5 papers
Simulated Annealing for Multi-Robot Ergodic Information Acquisition Using Graph-Based Discretization
Benjamin Wong, Aaron Weber, Mohamed M. Safwat +2
One of the goals of active information acquisition using multi-robot teams is to keep the relative uncertainty in each region at the same level to maintain identical acquisition qu…
Rapidly Converging Time-Discounted Ergodicity on Graphs for Active Inspection of Confined Spaces
Benjamin Wong, Ryan H. Lee, Tyler M. Paine +2
Ergodic exploration has spawned a lot of interest in mobile robotics due to its ability to design time trajectories that match desired spatial coverage statistics. However, current…
Semi-autonomous Teleoperation using Differential Flatness of a Crane Robot for Aircraft In-Wing Inspection
Wade Marquette, Kyle Schultz, Vamsi Jonnalagadda +3
Visual inspection of confined spaces such as aircraft wings is ergonomically challenging for human mechanics. This work presents a novel crane robot that can travel the entire span…
Active Anomaly Detection in Confined Spaces Using Ergodic Traversal of Directed Region Graphs
Benjamin Wong, Tyler M. Paine, Santosh Devasia +1
We provide the first step toward developing a hierarchical control-estimation framework to actively plan robot trajectories for anomaly detection in confined spaces. The space is r…
Human-Assisted Robotic Detection of Foreign Object Debris Inside Confined Spaces of Marine Vessels Using Probabilistic Mapping
Benjamin Wong, Wade Marquette, Nikolay Bykov +2
Many complex vehicular systems, such as large marine vessels, contain confined spaces like water tanks, which are critical for the safe functioning of the vehicles. It is particula…